Questions tagged [differential-drive]
Differential drive is a commonly used drive system, which consists of two independently controlled wheels.
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Robot moves only forward for Twist msgs with angular velocity component
Environment: Ubuntu 22.04, ROS2 Humble, Gazebo Fortress. Installed everything from apt repos
I am trying to learn ROS2 navigation2 from scratch and have created a ...
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ROS2 Control For VESC (motor controller) not working with two VESCs
I am currently working on a project to make a four-wheeled differential drive robot using 4 VESCs with ROS2 as the means of communication. Two vesc will be masters and the rest two will be slaves. I ...
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Robot tires slipping in Gazebo Ignition. Odometry going wrong hence
I am simulating a 4 wheel differential drive robot in Gazebo Fortress. However, my friction settings seem to be incorrect because my tires slip a lot more than the robot turns and hence my odometry ...
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Steer to a pose for a differential drive robot
I am working on a diff-drive robot that needs to go and dock into a docking station to charge when the battery is low. The charging socket is on the back of the robot, like a vacuum cleaner, so this ...
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ros2_control: No parameter file provided. Configuration might be wrong. failed to parse input yaml file(s)
I am trying to build a 4 wheel differential drive robot. But i am getting error when using ros2_control.
Version: Ros2 Foxy
Terminal Output
...
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Helping diff. drive robot get through doorways
Hey folks!
I'm working on a differential drive SLAM robot and I have things working pretty well. I'm able to:
Create a map of my apartment using slam_toolbox
Navigate from room to
room using Nav2 and ...
coatwolf
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How do I make a robot imported using urdf and ROS2 gravity? It just floats
I can't seem to find any examples with imported URDFs (the universal robot examples don't seem to have any physics settings beyond joint inertias etc).
My robot has mass from the urdf:
But it seems ...
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Where should I write and call GPIO port connection in the hardware interface in ros2_control for control of robot movement on Raspberry Pi 4?
I am using ROS 2 Humble on Raspberry Pi 4(Ubuntu 22.04 OS).
I am trying to build 2-wheeled diff-drive mobile robot and using ros2_control for controlling, but I'm ...
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Diff-drive robot - Obstacle avoiding - random walk
I have implemented a logic-based algorithm for obstacle avoidance in a differential drive robot with 5 IR sensors.
I want the robot in space, for example, a square room, to move freely and avoid ...
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Control a differential drive robot
I have some questions about implementing a mobile robot. I have an old construction mobile robot wherein this robot the main controller has been removed, and I put in its place a Raspberry Pi 4. I ...
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Differential Drive Control Techniques
I have a mobile robot that has a differential drive technique. I try to control the robot with PID controller. Is the best way for controlling differential drive robots?
If I want to compare different ...
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How to connect cmd_vel to motor_command in ROS
I have a motor driver for a BLDC wheel. I have successfully made the motor driver and ROS connections and when I send motor_command as in the "user manual" of the motor drivers, my wheels ...
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How do you use the differential_drive package
I looked at the ros documentation for the package but found the documentation was outdated, so I'm asking how do you use it in Noetic
Originally posted by bribri123 on ROS Answers with karma: 36 on ...
bribri123
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Center line steering with differential drive
I’ve got 2 motors that drives my unit and I can easily steer it manually by simply adding more speed to one wheel vs the other.
Now I’m automating the rover using image processing to follow a driveway....
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Drive unicycle kinematics equations through the geometry
The unicycle dynamics in discrete-time is given by:
$$
\begin{array}{l}
{x_{k + 1}} = {x_k} + \Delta {s_{k + 1}} \times \cos ({\theta _{k + 1}})\\
{x_{k + 1}} = {x_k} + \Delta {s_{k + 1}} \times \sin (...
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How do you model a physical robot (diff drive) in python?
I am using PyGame to simulate the motion of a differential drive robot. So far, I have used the standard diff drive kinematics, multiplying by delta time, and I have the motion working as expected.
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HECTOR SLAM, odometry in a low cost differential drive robot
I'm a noob in robotics trying to evaluate requirements for a low cost differential drive indoor robot. Would highly appreciate comments on the following questions.
Given the inaccuracies in the wheel ...
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How to find angular velocity using pure pursuit algorithm?
I have implemented the pure pursuit algorithm for my differential wheeled robot as described in the following paper:
http://www.enseignement.polytechnique.fr/profs/informatique/Eric.Goubault/MRIS/...
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How to choose closest angle when crossing -180 degrees
I'm applying a PID for position control on a diff drive robot, got the angles (orientation )between -pi and pi. It works fine until it needs to change its orientation from (let's say) -170 degrees to ...
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Differential Drive using shopping cart-style casters
I thought I would be clever and use TWO shopping-cart-style casters (more stable) instead of the ONE usual omnidirectional ball caster. Now that I am running it I am almost positive that the ...
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How to handle motor stall zones in differential drive point-forward go to goal algorithm?
I am implementing the Go To Goal algorithm for a differential drive robot as described here and in this video. The issue I have is that there is a large dead zone in pwm values where the motors are ...
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How to use SLAM generated map to navigate my robot to the destination?
I am trying to understand various SLAM algorithms.
In my case, I need my robot to start from point A and reach point B with maximum accuracy as well as precision for all the cases.
Note that, as the ...
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Differential steering
I'm hoping to build a 40kg rover for running on soft and loose dirt by using fewer than 4 motors. Does anyone know if differential steering is possible on 3 actuated wheels? That is, two at the front ...
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How to make my robot move parallel to edge of the table?
I have an autonomous differential drive robot that moves on the floor and its purpose is to always move parallel to the longer edge of the table (just assume that the table never ends). It looks ...
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How do robots move parallel to a wall/line?
I have been studying robotics by myself, lately.
I noticed that there are various mapping, localization methods (popularly under SLAM), but are there concepts relating to the robot moving in a ...
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How to design a robot chassis so as to avoid bending issues?
I'm good on the programming, control systems and electronics aspect of robotics, but need help with a problem with mechanical design.
How do I avoid bending of my chassis due to weight?
It is a 2 ...
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Problem with gazebo differential drive plugin
Hi Everyone,
I want to launch a gazebo (11) world and model in ROS Noetic. This also contains differential drive controller defined as follows:
...
elementaryshr
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How to estimate velocity from robot_pose_ekf
I have a differential drive mobile robot. and I am using robot_pose_ekf to estimate the state of the robot [x,y,θ]
How to estimate [v,ω ] the translational and rotational velocities. from ...
Ahmed_Desoky
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Extended Kalman filtering for IMU and Encoder
I am trying to fuse IMU and encoder using extended Kalman sensor fusion technique. how do I fuse IMU pitch, roll with the orientation data I obtained from the encoder. Also, how do I use my position x ...
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Motor acceleration and position with PID control
I'm working on a robot with differential drive (2 drive wheels equipped with rotary encoders and 4 free spinning omni wheels for stability) and each wheel is controlled via a separate arduino nano.
I ...
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Advantage of Kalman filter in differential drive planar robot
We need to estimate the position and orientation of differential drive robot by using encoders and imu sensor. For this specific case, is there any advantage of using Kalman filter than taking the ...
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Going from Spline to Differential Drive Command
I have a differential drive robot that needs to move along a path stored in its memory as a spline. I am currently trying to understand the mathematics of determining how much power to apply to each ...
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Arduino for mobile robot
Is it possible to drive the whole mobile differential drive robot with single arduino? Sonar sensor, servo motor, two encoders, two motors, imu, etc. I mean would it give a reasonable performance or ...
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How to drive mecanum wheels robot: code or algorithm
I have a robot with four mecanum wheels and I would like to make it move correctly by using a RC transmitter (my controller has two sticks and several buttons, each stick has a proportional range of [...
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How to make a diff robot (2 traction wheels front and 2 castor wheels back) to go straight?
I’m developing a differential robot. My wheeled robot has two castor wheels in the back and two driven wheels in the front. The motor controller I’m using can handle two motors each with 90 cpr. Each ...
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4 wheeled differential wheeled (skid-steer) robot steering problem
My question is about a square shaped differential wheeled robot, I built, that has a hub-motor (BLDC motor) attached to each corner, i.e., the wheels on the same side, either left or right, have the ...
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Effects of distance between wheels on differential line following robots
I have been working on a line following robot for a line tracing competition. It has 7 IR sensors for line detection and the robot size is limited based on the competition rules. The robot structure ...
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differential_drive base_width
Where exactly should the measurement for base width start and stop for the differential_drive twist_to_motors and diff_tf param? Should it be the inside, middle, or outside of the tires? My wheels are ...
billqd
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how to implement autonomous navigation using lidar and hector?
I want to make an autonomous mobile robot, which can localise itself and navigate to the goal in an unknown environment.
As sensor, i just have a RPLidar to get laser scan, that's it. I used Hector ...
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Entirely forbid lateral displacement on differential drive base?
I'm trying to use TEB in a diff-drive robot, but the planner sometimes produces paths with lateral displacements:
I have set to weight_kinematics_nh to the maximum value (10000) and it happens less, ...
jorge
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Roomba Create 2: how to convert steering angle to radius?
I want to set the steering angle for Roomba Create 2, and as far as I understand I can do this by setting a turning radius for the Roomba Create 2.
My question is:
How to convert steering angle to ...
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Adjusting the PWM frequency and duty cycle to achieve the desired angular velocity in differential drive robots
I am practicing C++ and intro to robotics using a simple differential drive robot and a raspberry pi. Also following along the GA Tech course on control of mobile robotics.
The implementation I am ...
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4 Wheel Robot wheels unstable. Fix needed
Hi All,
I am new here and this is my first question and as a result I can't post images so will do the best I can to explain what I'm experiencing.
Platform Details:
Distributor ID: Ubuntu
Description:...
afroRoboticist
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Motor encoders randomly start counting backward, then go back to normal
I am making an Arduino-controlled differential drive robot, and I am having the following problems:
the encoders built into the motors are being used for measuring the rotary displacement, and while ...
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Inverse kinematics for differential robot knowing linear and angular velocities
I have a differential robot and I am using ROS to run it. When I need to move the robot, I can send commands to it, specifically linear X and angular Z velocities. Linear X is in m/s whereas angular Z ...
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Any good example for ros_control of diff drive robot
I'm looking for examples related to ros_control of differential drive robot.
Please list any real or simulated diff-drive robots (with source code references) that use ros_control.
Such references ...
kiranpalla
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4 Wheel Differential Drive Robot with different speeds
Differential drive robot with 4 wheels,
If for example the back wheels were using different motors than the front ones ( ie : running at a faster/slower speed )
in general, would that generate more ...
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How to adjust center of mass when going over obstacles?
Hi I have a robot currently setup using ROS-Kinetic and Gazebo. The machine has four wheels and a differential driving system. I am testing how the machine goes over street curbs and often times as ...
MRhinelander
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ROS Gazebo Odometry Issue
I am setting up a Gazebo model for use with the navigation stack. I have been reading the Navigation Tuning Guide and am confused about the lidar data in the odom frame. I would think that the tuning ...
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ROS Gazebo Differential Drive only goes straight
I am trying to simulate my robot in Gazebo following the urdf tutorial found here to create an R2D2 model. The tutorial makes sense to me and I can successfully run it on my machine.
I tried to create ...
cmfuhrman